AbstractIn our lab, we work on active and bio-inspired perception and we test our theories by developing implementations in robotic systems, specifically humanoid robots, and autonomous quadrotors. In this way, we need to develop an integration of perception, with control, planning, reasoning and language in new cognitive architectures. A long-term goal in the Lab is the understanding of human activity. This led to the development of grammars for action which opened a new way for imitation learning in robotics, where learning happens at the level of the sub-goals in the action and not only at the level of the movement.